Robotic microsurgical assembly
A robotic surgical assembly includes a slave manipulator connected to a surgical instrument. A jointed subassembly includes at least first, second and third links. The first and second links are associated in a first joint providing a degree of freedom between the first link and the second link. The second and third links are associated in a second joint providing a degree of freedom between the second link and the third link. The surgical instrument includes a tendon for moving a degree of freedom; the tendon including a tendon distal portion secured to the third link. The first link and/or the second link includes a tendon contact surface on which the tendon slides remaining in contact with the tendon contact surface, defining one or more sliding paths on the tendon contact surface. The sum of all sliding paths defines a total winding angle of at least 120°.
1. A surgical instrument comprises a jointed subassembly comprising:
a first link and a second link associated in a joint providing a degree of freedom between said first link and said second link;
a third link moveable with respect to said second link; and
a tendon secured to said third link to actuate said third link;
wherein
said first link comprises at least one tendon contact surface on which said tendon slides, defining one or more curved sliding paths, and
said second link comprises at least one tendon contact surface on which said tendon slides, defining one or more curved sliding paths;
each of said sliding paths subtends a local winding angle, wherein a sum of all local winding angles defines a total winding angle, and wherein said total winding angle is between 60 degrees and 300 degrees.
2. The surgical instrument of claim 1 , wherein the total winding angle is between 90 degrees and 270 degrees.
3. The surgical instrument of claim 1 , wherein the total winding angle is equal to or greater than 120 degrees in at least one configuration of said jointed subassembly.
4. The surgical instrument of claim 1 , wherein the total winding angle is equal to or greater than 90 degrees when said jointed subassembly is in an unfolded configuration.
5. The surgical instrument of claim 1 , wherein the contact surfaces are convex surfaces.
6. The surgical instrument of claim 1 , wherein the contact surfaces are cylindrical surfaces.
7. The surgical instrument of claim 1 , wherein the contact surface is a ruled surface with parallel straight generator lines.
8. The surgical instrument of claim 1 , wherein each link is in single piece.
9. The surgical instrument of claim 1 , wherein said third link is connected to the second link forming a second joint.
10. The surgical instrument of claim 1 , wherein said third link is part of a tip of the surgical instrument.
11. The surgical instrument of claim 1 , wherein said tendon is a polymeric tendon.
12. The surgical instrument of claim 1 , wherein the mechanical properties of the tendon are variable along a length of the tendon.
13. The surgical instrument of claim 1 , wherein one link between said first link and said second link comprises at least two tendon contact surfaces on which said tendon slides remaining in contact with both of said at least two tendon sliding surface, thereby defining a sliding path on each of said at least two tendon contact surfaces of said one link between said first link and said second link.
14. The surgical instrument of claim 1 , wherein said third link further comprises at least a tendon contact surface which is incompatible for said tendon to slide thereon, thereby avoiding defining a sliding path.
15. The surgical instrument of claim 1 , wherein each sliding path is a continuous path with a prevailing longitudinal extension as a result of an imprint that the sliding tendon defines on said tendon contact surfaces of the first link and of the second link.
16. The surgical instrument of claim 1 , wherein said tendon slides along a longitudinal development avoiding sliding in a direction transversal to the tendon longitudinal development.
17. A robotic surgical assembly comprising at least one surgical instrument according to claim 1 , and
a slave manipulator comprising at least one actuator;
wherein said at least one surgical instrument is connectable to said slave manipulator.
18. The robotic surgical assembly of claim 17 , wherein said tendon comprises:
a tendon proximal portion operatively coupled to said at least an actuator of the slave manipulator;
a tendon distal portion secured to said third link; and
a tendon intermediate portion extending between said tendon proximal portion and said tendon distal portion;
wherein said tendon intermediate portion slides defining said one or more sliding paths on said first link and said second link.
19. The robotic surgical assembly of claim 18 , wherein said tendon distal portion is incompatible for sliding on a tendon contact surface.
20. The surgical instrument of claim 1 , wherein each contact surface is a portion of a cylindrical surface.